src/ipa/raspberrypi/controller/rpi/ccm.hpp


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/* SPDX-License-Identifier: BSD-2-Clause */
/*
 * Copyright (C) 2019, Raspberry Pi (Trading) Limited
 *
 * ccm.hpp - CCM (colour correction matrix) control algorithm
 */
#pragma once

#include <vector>

#include "../ccm_algorithm.hpp"
#include "../pwl.hpp"

namespace RPiController {

// Algorithm to calculate colour matrix. Should be placed after AWB.

struct Matrix {
	Matrix(double m0, double m1, double m2, double m3, double m4, double m5,
	       double m6, double m7, double m8);
	Matrix();
	double m[3][3];
	void Read(boost::property_tree::ptree const &params);
};
static inline Matrix operator*(double d, Matrix const &m)
{
	return Matrix(m.m[0][0] * d, m.m[0][1] * d, m.m[0][2] * d,
		      m.m[1][0] * d, m.m[1][1] * d, m.m[1][2] * d,
		      m.m[2][0] * d, m.m[2][1] * d, m.m[2][2] * d);
}
static inline Matrix operator*(Matrix const &m1, Matrix const &m2)
{
	Matrix m;
	for (int i = 0; i < 3; i++)
		for (int j = 0; j < 3; j++)
			m.m[i][j] = m1.m[i][0] * m2.m[0][j] +
				    m1.m[i][1] * m2.m[1][j] +
				    m1.m[i][2] * m2.m[2][j];
	return m;
}
static inline Matrix operator+(Matrix const &m1, Matrix const &m2)
{
	Matrix m;
	for (int i = 0; i < 3; i++)
		for (int j = 0; j < 3; j++)
			m.m[i][j] = m1.m[i][j] + m2.m[i][j];
	return m;
}

struct CtCcm {
	double ct;
	Matrix ccm;
};

struct CcmConfig {
	std::vector<CtCcm> ccms;
	Pwl saturation;
};

class Ccm : public CcmAlgorithm
{
public:
	Ccm(Controller *controller = NULL);
	char const *Name() const override;
	void Read(boost::property_tree::ptree const &params) override;
	void SetSaturation(double saturation) override;
	void Initialise() override;
	void Prepare(Metadata *image_metadata) override;

private:
	CcmConfig config_;
	double saturation_;
};

} // namespace RPiController
/* SPDX-License-Identifier: GPL-2.0-or-later */
/*
 * Copyright (C) 2019, Google Inc.
 *
 * camera_session.cpp - Camera capture session
 */

#include <iomanip>
#include <iostream>
#include <limits.h>
#include <sstream>

#include <libcamera/control_ids.h>
#include <libcamera/property_ids.h>

#include "../common/event_loop.h"
#include "../common/stream_options.h"

#include "camera_session.h"
#include "capture_script.h"
#include "file_sink.h"
#ifdef HAVE_KMS
#include "kms_sink.h"
#endif
#include "main.h"
#ifdef HAVE_SDL
#include "sdl_sink.h"
#endif

using namespace libcamera;

CameraSession::CameraSession(CameraManager *cm,
			     const std::string &cameraId,
			     unsigned int cameraIndex,
			     const OptionsParser::Options &options)
	: options_(options), cameraIndex_(cameraIndex), last_(0),
	  queueCount_(0), captureCount_(0), captureLimit_(0),
	  printMetadata_(false)
{
	char *endptr;
	unsigned long index = strtoul(cameraId.c_str(), &endptr, 10);
	if (*endptr == '\0' && index > 0 && index <= cm->cameras().size())
		camera_ = cm->cameras()[index - 1];
	else
		camera_ = cm->get(cameraId);

	if (!camera_) {
		std::cerr << "Camera " << cameraId << " not found" << std::endl;
		return;
	}

	if (camera_->acquire()) {
		std::cerr << "Failed to acquire camera " << cameraId
			  << std::endl;
		return;
	}

	StreamRoles roles = StreamKeyValueParser::roles(options_[OptStream]);

	std::unique_ptr<CameraConfiguration> config =
		camera_->generateConfiguration(roles);
	if (!config || config->size() != roles.size()) {
		std::cerr << "Failed to get default stream configuration"
			  << std::endl;
		return;
	}

	/* Apply configuration if explicitly requested. */
	if (StreamKeyValueParser::updateConfiguration(config.get(),
						      options_[OptStream])) {
		std::cerr << "Failed to update configuration" << std::endl;
		return;
	}

	bool strictFormats = options_.isSet(OptStrictFormats);

#ifdef HAVE_KMS
	if (options_.isSet(OptDisplay)) {
		if (options_.isSet(OptFile)) {
			std::cerr << "--display and --file options are mutually exclusive"
				  << std::endl;
			return;
		}

		if (roles.size() != 1) {
			std::cerr << "Display doesn't support multiple streams"
				  << std::endl;
			return;
		}

		if (roles[0] != StreamRole::Viewfinder) {
			std::cerr << "Display requires a viewfinder stream"
				  << std::endl;
			return;
		}
	}
#endif

	if (options_.isSet(OptCaptureScript)) {
		std::string scriptName = options_[OptCaptureScript].toString();
		script_ = std::make_unique<CaptureScript>(camera_, scriptName);
		if (!script_->valid()) {
			std::cerr << "Invalid capture script '" << scriptName
				  << "'" << std::endl;
			return;
		}
	}

	switch (config->validate()) {
	case CameraConfiguration::Valid:
		break;

	case CameraConfiguration::Adjusted:
		if (strictFormats) {
			std::cout << "Adjusting camera configuration disallowed by --strict-formats argument"
				  << std::endl;
			return;
		}
		std::cout << "Camera configuration adjusted" << std::endl;
		break;

	case CameraConfiguration::Invalid:
		std::cout << "Camera configuration invalid" << std::endl;
		return;
	}

	config_ = std::move(config);
}

CameraSession::~CameraSession()
{
	if (camera_)
		camera_->release();
}

void CameraSession::listControls() const
{
	for (const auto &[id, info] : camera_->controls()) {
		std::cout << "Control: " << id->name() << ": "
			  << info.toString() << std::endl;
	}
}

void CameraSession::listProperties() const
{
	for (const auto &[key, value] : camera_->properties()) {
		const ControlId *id = properties::properties.at(key);

		std::cout << "Property: " << id->name() << " = "
			  << value.toString() << std::endl;
	}
}

void CameraSession::infoConfiguration() const
{
	unsigned int index = 0;
	for (const StreamConfiguration &cfg : *config_) {
		std::cout << index << ": " << cfg.toString() << std::endl;

		const StreamFormats &formats = cfg.formats();
		for (PixelFormat pixelformat : formats.pixelformats()) {
			std::cout << " * Pixelformat: "
				  << pixelformat << " "
				  << formats.range(pixelformat).toString()
				  << std::endl;

			for (const Size &size : formats.sizes(pixelformat))
				std::cout << "  - " << size << std::endl;
		}

		index++;
	}
}

int CameraSession::start()
{
	int ret;

	queueCount_ = 0;
	captureCount_ = 0;
	captureLimit_ = options_[OptCapture].toInteger();
	printMetadata_ = options_.isSet(OptMetadata);

	ret = camera_->configure(config_.get());
	if (ret < 0) {
		std::cout << "Failed to configure camera" << std::endl;
		return ret;
	}

	streamNames_.clear();
	for (unsigned int index = 0; index < config_->size(); ++index) {
		StreamConfiguration &cfg = config_->at(index);
		streamNames_[cfg.stream()] = "cam" + std::to_string(cameraIndex_)
					   + "-stream" + std::to_string(index);
	}

	camera_->requestCompleted.connect(this, &CameraSession::requestComplete);

#ifdef HAVE_KMS
	if (options_.isSet(OptDisplay))
		sink_ = std::make_unique<KMSSink>(options_[OptDisplay].toString());
#endif

#ifdef HAVE_SDL
	if (options_.isSet(OptSDL))
		sink_ = std::make_unique<SDLSink>();
#endif

	if (options_.isSet(OptFile)) {
		if (!options_[OptFile].toString().empty())
			sink_ = std::make_unique<FileSink>(camera_.get(), streamNames_,
							   options_[OptFile]);
		else
			sink_ = std::make_unique<FileSink>(camera_.get(), streamNames_);
	}

	if (sink_) {
		ret = sink_->configure(*config_);
		if (ret < 0) {
			std::cout << "Failed to configure frame sink"
				  << std::endl;
			return ret;
		}

		sink_->requestProcessed.connect(this, &CameraSession::sinkRelease);
	}

	allocator_ = std::make_unique<FrameBufferAllocator>(camera_);

	return startCapture();
}

void CameraSession::stop()
{
	int ret = camera_->stop();
	if (ret)
		std::cout << "Failed to stop capture" << std::endl;

	if (sink_) {
		ret = sink_->stop();
		if (ret)
			std::cout << "Failed to stop frame sink" << std::endl;
	}

	sink_.reset();

	requests_.clear();

	allocator_.reset();
}

int CameraSession::startCapture()
{
	int ret;

	/* Identify the stream with the least number of buffers. */
	unsigned int nbuffers = UINT_MAX;
	for (StreamConfiguration &cfg : *config_) {
		ret = allocator_->allocate(cfg.stream());
		if (ret < 0) {
			std::cerr << "Can't allocate buffers" << std::endl;
			return -ENOMEM;
		}

		unsigned int allocated = allocator_->buffers(cfg.stream()).size();
		nbuffers = std::min(nbuffers, allocated);
	}

	/*
	 * TODO: make cam tool smarter to support still capture by for
	 * example pushing a button. For now run all streams all the time.
	 */

	for (unsigned int i = 0; i < nbuffers; i++) {
		std::unique_ptr<Request> request = camera_->createRequest();
		if (!request) {
			std::cerr << "Can't create request" << std::endl;
			return -ENOMEM;
		}

		for (StreamConfiguration &cfg : *config_) {
			Stream *stream = cfg.stream();
			const std::vector<std::unique_ptr<FrameBuffer>> &buffers =
				allocator_->buffers(stream);
			const std::unique_ptr<FrameBuffer> &buffer = buffers[i];

			ret = request->addBuffer(stream, buffer.get());
			if (ret < 0) {
				std::cerr << "Can't set buffer for request"
					  << std::endl;
				return ret;
			}

			if (sink_)
				sink_->mapBuffer(buffer.get());
		}

		requests_.push_back(std::move(request));
	}

	if (sink_) {
		ret = sink_->start();
		if (ret) {
			std::cout << "Failed to start frame sink" << std::endl;
			return ret;
		}
	}

	ret = camera_->start();
	if (ret) {
		std::cout << "Failed to start capture" << std::endl;
		if (sink_)
			sink_->stop();
		return ret;
	}

	for (std::unique_ptr<Request> &request : requests_) {
		ret = queueRequest(request.get());
		if (ret < 0) {
			std::cerr << "Can't queue request" << std::endl;
			camera_->stop();
			if (sink_)
				sink_->stop();
			return ret;
		}
	}

	if (captureLimit_)
		std::cout << "cam" << cameraIndex_
			  << ": Capture " << captureLimit_ << " frames"
			  << std::endl;
	else
		std::cout << "cam" << cameraIndex_
			  << ": Capture until user interrupts by SIGINT"
			  << std::endl;

	return 0;
}

int CameraSession::queueRequest(Request *request)
{
	if (captureLimit_ && queueCount_ >= captureLimit_)
		return 0;

	if (script_)
		request->controls() = script_->frameControls(queueCount_);

	queueCount_++;

	return camera_->queueRequest(request);
}

void CameraSession::requestComplete(Request *request)
{
	if (request->status() == Request::RequestCancelled)
		return;

	/*
	 * Defer processing of the completed request to the event loop, to avoid
	 * blocking the camera manager thread.
	 */
	EventLoop::instance()->callLater([=]() { processRequest(request); });
}

void CameraSession::processRequest(Request *request)
{
	/*
	 * If we've reached the capture limit, we're done. This doesn't
	 * duplicate the check below that emits the captureDone signal, as this
	 * function will be called for each request still in flight after the
	 * capture limit is reached and we don't want to emit the signal every
	 * single time.
	 */
	if (captureLimit_ && captureCount_ >= captureLimit_)
		return;

	const Request::BufferMap &buffers = request->buffers();

	/*
	 * Compute the frame rate. The timestamp is arbitrarily retrieved from
	 * the first buffer, as all buffers should have matching timestamps.
	 */
	uint64_t ts = buffers.begin()->second->metadata().timestamp;
	double fps = ts - last_;
	fps = last_ != 0 && fps ? 1000000000.0 / fps : 0.0;
	last_ = ts;

	bool requeue = true;

	std::stringstream info;
	info << ts / 1000000000 << "."
	     << std::setw(6) << std::setfill('0') << ts / 1000 % 1000000